2023.1.1
Highlights
General
Kit SDK 105.1.2
WebSocket live-streaming will be removed in the next version of Isaac Sim
Replicator Composer will be removed in the next version of Isaac Sim
omni.isaac.synthetic_utils will be removed in the next version of Isaac Sim in favor of omni.replicator
omni.isaac.shapenet will be removed in the next version of Isaac Sim
omni.isaac.urdf will be removed in the next version of Isaac Sim in favor of omni.importer.urdf
Fixes for security vulnerabilities: CVE-2023-49083
Added Joint gains tuning guide
- New Robots
Added Franka Research 3 (FR3) manipulator
Renamed Carter V24 to Nova Carter
- Sensors
RTX Lidar has corrected some outputs, including objectId, velocity and hitPointNormal
- Isaac Core
Fix for USD joint sign convention used in joint limits, joint target positions/velocities, joint forces, etc;
If the arrangement of USD joint bodies (body0/body1) isn’t similar to the underlying physics kinematic tree hierarchy (parent/child), scalar properties undergo a sign inversion. Notably, for joint forces, a transformation is applied to ensure reporting in the USD joint body1 frame.
It is important to note that this adjustment may impact the behavior of existing user assets, particularly in cases where warnings related to the incorrect ordering of USD joint bodies have been overlooked.
Added get_assets_root_path_async()
Added On Physics Step node
- ROS
Added ROS1 and ROS2 AckermannDriveStamped publisher and subscriber nodes
New ROS1/ROS2 Clock publisher and subscriber tutorials
- Replicator
Added DataVisualizationWriter example writer to omni.replicator.isaac to write labeled annotator data to disk
Added custom event trigger example to Replicator → Useful Snippets
- Gym
Added support for viewport recording during training/inferencing using gym wrapper class RecordVideo
Added video tutorial for extension workflow
Minor bug fixes and cleanup in OmniIsaacGymEnvs
- Metro Sim (People, ORC, ORO)
First release of the Omni.Replicator.Character extension suite.
Designed to generate synthetic data across a variety of environments. It provides controls over environments, cameras, agents through the use of configuration and command files.
First release of the omni.replicator.object extension.
Description file based object simulation. Cameras, lights and geometry are defined as mutables that randomize per frame, while harmonizers are defined to coordinate randomization, and settings are supported to configure the simulation enviroment.
- Added
Bin pack harmonizer. When using it to harmonize a transform operator, users can pack a group of objects to a cuboid with user-specified size.
Mutable shader attributes for a geometry. This is a mutable attribute that allows mutation of shader attributes, e.g. texture rotations.
Setting to exclude occluded objects by a threshold.
Tutorial/test USD models.
- Fixed
Support for concave objects in container.
Extensions
omni.exporter.urdf
Added
Exporting sensor prim frames to URDF
Ability to set mesh path prefix
Optionally setting output to directory (URDF file name automatically set to match USD file name)
Fixed
Scaling bug when geometry prim is a child of Xform prim with scaling
Cylinder scaling issue
Joint frame alignment when child link transform is not identity
Exporting revolute joints with inf limits, export as continuous joints now
Too many root links
Velocity and effort limits always being set to zero
Large camera meshes added erroneously to URDF
Terminal output labeled as error even when export is successful
omni.isaac.asset_browser
Changed
Fix missing default icon
Update based on omni.kit.browser.asset-1.3.7
Update asset paths to 2023.1.1
omni.isaac.assets_check
Changed
Use get_assets_root_path_async()
omni.isaac.cloner
Fixed
Fixed error with GridCloner when offsets are passed
Add test case with position and orientation offsets for GridCloner
Fixed the order in which xformop is set while cloning. Earlier a set was passed instead of list.
omni.isaac.conveyor
Fixed
Error when Node starts for the first time if it doesn’t have a Texture translate attribute.
omni.isaac.core
Added
set_block_on_render and get_block_on_render to control waitIdle flag
added rot_matrices_to_quats method to torch utils
test for get_joint_position in test_articulation to catch the sign switch that happens when articulation joints have different body0 and body1 than expected.
Changed
Add more articulation metadata
Fix contact reporter API schema
Fix joint limits
Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.world (world) and omni.isaac.core.simulation_context (simulation_context)
Add get_assets_root_path_async()
Add get_full_asset_path_async()
Add get_server_path_async()
/app/runLoops/main/rateLimitEnabled in standalone workflow will be set to False
Apply codespell to fix common misspellings and typos
Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.objects (capsule, cone, cuboid, cylinder, sphere, ground_plane)
Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.prims (xform_prim, xform_prim_view, rigid_prim, rigid_prim_view, rigid_contact_view, geometry_prim, geometry_prim_view, base_sensor)
Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.articulations (articulation, articulation_view) and omni.isaac.core.robots (robot, robot_view)
Removed create_hydra_texture; use rep.create.render_product from omni.replicator.core instead.
Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.utils (bounds, carb, constants, extension, mesh, physics, prim, stage)
Update asset paths to 2023.1.1
Fixed
set_live_sync method
quats_to_rot_matrices under torch utils to handle 1 dimensional input and batched
pad method under torch utils
Forward the density parameter to the RigidPrimView instance in RigidPrim class constructor
Fix argument typo when applying a physics material to a ground plane object
Add missing worker thread parsing from sim config
Fix indices used to set the GeometryPrimView collision API properties
Fix the indices comparison that prevented applying several physical materials to a GeometryPrimView object
Use articulation view metadata to get DOF types given specific DOF names
Remove unexpected keyword argument when printing the stage via the stage utils
renamed utils.torch.rotations quat_to_rot_matrices to quats_to_rot_matrices to be consistent with numpy, originally named function is now a redirect function
omni.isaac.core_nodes
Added
On Physics Step Node
Fixed
Annotator unit test due to replicator update
omni.isaac.debug_draw
Added
Check for valid prim path, so the debug drawing nodes will issue an error instead of crash with invalid path
omni.isaac.dofbot
Changed
switched gripper deltas them because of a change in physX regarding flipped signs.
omni.isaac.dynamic_control
Fixed
Issue with prim getting removed at random
omni.isaac.examples
Changed
Force stop bin filling once gripper constraint breaks
Add small force to induce gripper breaking if it doesn’t happen on bin pieces falling
Increase quadruped example physics rate to 400hz
Fixed
Fixed issue with screwing in nut and bolt demo
Improved accuracy of placement and rotation and increased rotation speed
Moved nut screwing to start with 3rd nut with slight improvement to centering
omni.isaac.gym
Added
Add APIs for recording viewport during training
Changed
Improve test coverage
Update outdated MT tests to use extension workflow
omni.isaac.kit
Changed
Set /app/player/useFixedTimeStepping to False since the loop runner controls stepping
Fixed
set_live_sync method
omni.isaac.motion_generation
Added
Add RMPflow configs for FR3 robot
Changed
Moved wheel base pose controller to wheeled robots extension
omni.isaac.occupancy_map
Fixed
Updated api docs to mention correct return types.
omni.isaac.ocs2
Changed
Disable tests in docker
omni.isaac.quadruped
Changed
Added torque clamp to the quadruped control in response to physics change
Behavior changed, investigating performance issue
Fixed
Add the missing import statement for the IMUSensor
omni.isaac.range_sensor
Fixed
Issue where ReadLidar nodes ticking twice on the same set of data if run twice per frame
omni.isaac.robot_assembler
Fixed
Fixed breaking test cases that loaded local USD assets with references to robots on Nucleus
omni.isaac.ros2_bridge
Added
ROS2 Ackermann Subscriber and Publisher nodes using non-default ROS2 AckermannDriveStamped message type.
Option to publish a full scan from RTX lidar
APIs to dynamically load ROS2 libraries at runtime depending on what messages are being created. Will only be used for select non-default ROS 2 messages.
Fixed
Removed conflicting TF Publishers from standalone ROS2 Moveit tutorial
Queue Size (QOS depth) settings now enforced when creating subscriber nodes.
Added unit tests for variable queue sizes in subscribers
omni.isaac.ros_bridge
Added
ROS1 Ackermann Subscriber and Publisher nodes
Option to publish a full scan from RTX lidar
omni.isaac.sensor
Added
ZED X sensor to menu item
Changed
IsaacCreateRTXLidarScanBuffer transformPoints defaults to false
RtxSensorCpuIsaacCreateRTXLidarScanBuffer doTransform defaults to true
Fixed
Issue where ReadLidar nodes ticking twice on the same set of data if run twice per frame
aperture setters and getters in Camera.py
Camera Matrix calculation in set_matching_fisheye_polynomial_properties method in Camera.py
Camera class to work with torch backend
Contact Sensor can now measure force correctly when the rigid body is not its direct parent
omni.isaac.surface_gripper
Changed
Location on the Menu reverted back to from Create->Isaac->End Effector
Location on the Menu changed from Create->Isaac->End Effector to Create->Isaac->Robot.
omni.isaac.synthetic_recorder
Changed
removed overwrite/increment/timestamp options from recorder, it is now handled by the backend which is not exposed
Fixed
fixed bug if a non valid json file is provided to the custom writer
omni.isaac.synthetic_utils
Changed
disabling unit tests that are failing due to deprecated interfaces
omni.isaac.universal_robots
Added
Random piece orientation on drop
Changed
Minor tweaks in bin filling position so pieces don’t hit robot when falling
omni.isaac.urdf
Changed
Added deprecation alert. This extension has been deprecated, please use omni.importer.urdf instead.
omni.isaac.utils
Changed
Removed Factory Franka
Fixed
April tag menu
Loading Robotiq hand into a path that doesn’t start with a number
omni.isaac.wheeled_robots
Changed
OgnAckermannSteering node receives inputs in SI units.
OgnAckermannSteering node now accepts speed and acceleration as desired forward motion inputs.
OgnAckermannSteering node uses front axel steering angle as input rather than curvature
Moved wheel base pose controller from motion generation extension
Fixed
_wheeled_dof_indices vs _wheel_dof_indices typo
omni.kit.property.isaac
Changed
Prim Custom Data field can support arrays now
omni.replicator.isaac
Added
DataVisualizationWriter writing annotattions as overlays on top of image data
DOPE and YCBWriter will write to disk only if there is valid data (target(s) is not fully occluded in view)
Fixed
Change initialization of s3 BackendDispatch for DOPE writer
Added overwrite=True by default to DOPE and YCV Writer backends
DataVisualizationWriter parameters if None and writer metadata export
2023.1.0-hotfix.1
Highlights
General
Fixes for security vulnerabilities: CVE-2023-38545, CVE-2023-5590
Extensions
omni.isaac.examples
Fixed
Changed end offector offset for Franka Stacking Controller in robo party example to [0, 0, 0] instead of [0, 0, -0.015]
omni.isaac.ros2_bridge
Fixed
Added fix for foxy backend to match humble backend
omni.isaac.ros_bridge
Fixed
Logging levels for roscore helper
omni.isaac.ui
Fixed
Error when user setup function creates a new stage
Error when using load button due to physics context initialization issue
omni.kit.loop-isaac
Changed
Update to latest loop runner code from kit-sdk and set default settings
2023.1.0
Highlights
General
USD to URDF Exporter
Updated to Omniverse Kit SDK 105.1
Updated to USD 22.11
Updated to Python 3.10
ROS
Update packages to python 3.10
ROS2 Bridge now enabled by default
ROS2 bridge can dynamically load based on the workspace sourced
Developers can source their Humble or Foxy workspaces before running Omniverse Isaac Sim
Developers can leverage their ROS 2 installation to write and compile C++ OmniGraph Nodes
Sample workflow for using ROS 2 custom messages with Python:rclpy
Navigation with RTX lidar
ROS2 Single and Multi robot navigation examples using the new Nova Carter robot
ROS2 Humble support for Windows
Reduced GPU-CPU memory copies to improve performance
New robots
Evobot from Fraunhofer
Manipulators: Fanuc CRX-10iA, Festo Cobot, KUKA KR 210 L150, Techman TM12
Mobile base: Nova Carter
Sensors
New Sensors
RGBD: Realsense, Orbbec, Hawk, Sensing
RTX-Lidar: Zvision, Ouster, Hesai, Sick, Velodyne, SlamTec
RTX-lidar in windows
Camera class
Manipulation
Mimic joint support in URDF importer and Lula kinematics, inverse kinematics, and trajectory generator
Robot Assembler for composing robots and end effectors
Replicator
Randomization in simulation (manipulator use case)
Randomization in simulation (mobile base use case)
Offline data generation with config files (YAML/JSON) support
Writer and annotator augmentations
Isaac Sim / USD API based randomizations
Warehouse Builder
Use new modular warehouse assets
Gym
Tensorized soft body API and RL example
Additional RL examples for Factory tasks
New RL examples with Warp
Extension workflow for RL training and inferencing
Support for multi-node RL training
Cortex
Extension for palletizing demo
Visualization of logical states
Live Streaming
WebSocket streaming client is deprecated
Container
Added telemetry support for container
Updated base container to Ubuntu 22.04
Documentation
Isaac Sim Documentation Audits. Audit & reg-org Isaac Sim docs to make it useful for first time users.
Updated Motion Generation tutorials to use standalone extensions instead of standalone scripts
Extensions
omni.exporter.urdf
Added new omni.exporter.urdf extension.
omni.isaac.app.selector
Changed
Added a note that “Headless WebSocket” app variant is now deprecated and will be removed in a future release.
Set ROS bridge field to blank so users can pick if they want to start with ROS1/ROS2
Source bash when starting sim so env vars are properly set
omni.isaac.app.setup
Added
Added “ReplicatorYAML” menu item.
Removed
Removed F1 and F3 hotkeys for opening help documents.
Changed
Updated contents of “Help” menu.
Added deprecation label for the “Replicator -> Composer” menu item.
Removed redundant settings that were already set in .kit file.
Fixed
Fixed an issue that prevented fullscreen and “Hide UI” modes from working.
omni.isaac.articulation_inspector
Changed
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
Replaced use of get_joint_efforts() with get_measured_joint_efforts() since the former had been deprecated and is now removed.
omni.isaac.asset_browser
Changed
Updated asset paths to those for the 2023.1.0 release.
Added “Materials” folder to the asset browser.
omni.isaac.camera_inspector
Added new omni.isaac.camera_inspector extension.
omni.isaac.cloner
Added
Exposed API for retrieving clone transorms from GridCloner
Add unregister when physics replication is disabled
Added option to specify mode of cloning (inherit vs. copy)
Changed
When positions and orientations are None, the cloner keeps the Xform translation and orientation instead of using identity
Makes the method replicate_physics public to allow users to have control over it
omni.isaac.conveyor
Changed
added standard out fail pattern for the expected no prim found edge case for the ogn test
Changed conveyor prim node input type from bundle to target
Update to kit 105.1, build system update, omni.usd.utils -> omni.usd, usdPhysics -> pxr/usd/usdPhysics
omni.isaac.core
Added
Add missing GPU collision stack size API in physics context
Add function create_viewport_for_camera() to viewports.py
get_local_pose and get_world_pose in xforms utils which will go through fabric if the prim exists there, otherwise it will read it from USD
Added SdfShapeView class for handling shapes signed-distance function
Added a new API for reading detailed contact data
Added support for Warp backend for rigid classes
Added core wrappers for physx and physics.tensors deformable body APIs
Added new APIs for joint force sensors and dof effort sensors
Added OBB functions compute_obb and compute_obb_corners to utils.bounds
Added OBB tests
euler_to_rot_matrix returns the pre multiplicative matrix and not the post multiplicative one as before and in numpy format intead of Gf.Rotation.
added extrinsic argument to torch rotation utils: compute_rot, quat_from_euler_xyz, get_euler_xyz, euler_angles_to_quats
added methods to torch rotation utils: quat_to_rot_matrices, matrices_to_euler_angles
added extrinsic argument to numpy rotation utils: quats_to_euler_angles, euler_angles_to_quats
added extrinsic argument to rotation utils: euler_angles_to_quat, quat_to_euler_angles, matrix_to_euler_angles, euler_to_rot_matrix
Changed
Changed get_world_pose fabric util to check for the attribute before getting it to avoid warnings
Added warnings to OgnIsaacReadFilePath
Updated view port unit test to accept identical fx and fy
XFormPrimView get_local_poses and get_world_poses uses the new methods available in xforms utils to query the poses from Fabric and USD alike
timeline is stopped if initialize simulation context is called
Split World reset_async into scene construction and simulation start.
Add function get_transform_with_normalized_rotation to utils.transformation.py
Function returns transformation matrix after removing scale factor
Update asset paths to 2023.1.0
Fixed
Correctly set GPU pipeline when it is missing from SimConfig
Propagate physX to Fabric when stepping physX and kit seperatly
Articulation Root mismatch with the default state in ArticulationView
Fixed a bug in a rigid_prim_view unit test
Fixed gpu device parsing.
Added gpu flushing as a physics callback to handle the extension workflow and the standalone one alike.
Removed the destructor calls from SimulationContext and World for possible bugs concerning them being Singeltons.
GeometryPrimView.is_collision_enabled to read values set through USD and not the class
GeometryPrimView.get_physics_visual_materials typo to use physics material rather than visual material
None in numpy arrays in current numpy version 1.25.2 gets converted to nan, propagated this change to ArticulationController.apply_action
Fixed the __new__ method in the
SimulationContextclass to work for inherited class.Updated utils.viewports.set_camera_view to check both x and y of the position and target
Add default values for World transform attributes when fetching fabric in _get_world_pose_transform_w_scale method
Vertical Aperture used from reading the horizonal aperture usd property and multiplying it by resolution ratio to conform to the square pixels asumption in place. (setting and getting intrinsics in viewports utils)
Crash when initializing world if is_playing was true
Fixed memory leak in ArticulationView, RigidPrimView and SimulationContext stemming from tensor api views
Fixed minor typo in articulation view
Fixed the order of parsing of the stage in the physics context warm start operation
set_camera_view now works when the camera is directly above or directly below the target (x and y positions are equal)
Issues related to Kit 105.1 update
UsdShaderConnecatbleAPI explicit for OmniGlass and PreviewSurface constructors
Renamed flatcache to fabric (enable_flatcache -> enable fabric in PhysicsContext) and sim_params dict key use_flatcache -> use_fabric
Extension omni.physx.flatcache renamed to omni.physx.fabric
Schema attributes moved from CLoth API to Particle API in ClothPrimView class
SimulationContext sets TimeCodesPerSecond attribute and the timeline’s target framrate to the rendering frequency to account for the decoupling of stage updates and app updates.
set_prop_val move from omni.usd.utils to omni.usd
omni.isaac.core_archive
Removed
boto3, s3transfer to omni.pip.compute
scipy, pyyaml to omni.pip.compute
botocore, urllib3, charset-normalizer as they are already in omni.kit.pip_archive
Changed
Removed unused omni.kit.pipapi dependency
omni.isaac.core_nodes
Added
Added tracking for the number of physics step
IsaacReadTimes node
get_sim_time_at_time
get_sim_time_monotonic_at_time
get_system_time_at_time
IsaacReadTimesAOV node template
IsaacReadTimes node template
Support for custom distortion type/values on a camera to read camera info node
Removed
unused writer and node template attachment systems
IsaacReadSystemTime node
swhFrameTime input/output from IsaacConvertRGBAToRGB node
Changed
Read file node will return False if file path does not exist or is invalid
Add enabled flag to create render product node
Added a default noop node to SDG pipeline helper nodes so that the graph is not deleted on stop
added stdout fail pattern for the expected no prim found edge case for the ogn test
Changed omnigraph prim from bundle to target for OgnIsaacComputeOdometry, OgnIsaacArticulationController, OgnIsaacCreateRenderProduct, OgnIsaacSetCameraOnRenderProduct
Use Replicator Annotator class for nodes that can provide data
Point Cloud node returns width and height of data
RGBA and Depth to PCL nodes use raw ptrs instead of arrays to improve perf
Update to kit 105.1, build system update
IsaacArticulationController targetPrim now optional
getSimulationTimeAtSwhFrame now getSimulationTimeAtTime with rational time
getSimulationTimeMonotonicAtSwhFrame now getSimulationTimeMonotonicAtTime with rational time
getSystemTimeAtSwhFrame now getSystemTimeAtTime with rational time
[SENSOR NAME]IsaacSimulationGate nodes to [RENDERVAR]IsaacSimulationGate to match synthetic data standard
deprecated get_sim_time_at_swh_frame
deprecated get_sim_time_monotonic_at_swh_frame
deprecated get_system_time_at_swh_frame
Fixed
ReadTimes node not passing execution state properly
Fixed camera info is empty bug in test_camera
Import error in OgnIsaacGetViewportRenderProduct
Added time code settings for test_physics_num_steps
Vertical Aperture used from reading the horizonal aperture usd property and multiplying it by resolution ratio to conform to the square pixels asumption in place. (DepthToPointCloud and IsaacReadCameraInfo nodes)
omni.isaac.cortex
Added
__str__ methods for Df and Dfb classes
Fixed
omni.isaac.kit dependency
Conversion from Rotation matrix Quaternion uses direct method
omni.isaac.cortex.sample_behaviors
Added new omni.isaac.cortex.sample_behaviors extension.
omni.isaac.cortex_sync
Fixed
Prevents messages to be sent when their content is null
omni.isaac.debug_draw
Added
doTransform to DebugDrawPointCloud node, set to false it ignores the input transform
xPrim Axis Visualzier node
xPrim Radius Visualizer node
Changed
added stdout fail pattern for the expected no prim found edge case for the ogn test
Added testMode and removed depthTest (it did nothing) from DebugDrawPointCloud node.
Changed prim input type from bundle to target for xPrim Axis and Radius visualizer
rename width to size for point cloud debug node to prevent auto connection when using in replicator pipelines
pass width vector by reference.
Simplified DebugDrawPointCloud internals.
DebugDrawPointCloud Node updated to work with dataPtr/bufferSize inputs.
DebugDrawPointCloud Node updated to auto connect with synthetic data/replicator nodes.
omni.isaac.dynamic_control
Changed
Update to kit 105.1, update build system
set_time_codes_per_second in set_physics_frequency
Fixed
Fixed joints on the root of an articulation are treated as a special type of internal articulation to support fixed base.
Getting the type for the first fixed joint on the root link of an articulation will return none now
Use USD apis to interact with the first fixed joint on the root of an articulation.
omni.isaac.examples
Added
Cortex Samples
Removed
Moved Cortex Behaviors to omni.isaac.cortex.sample_behaviors
Fixed
Collision groups and num_bolts for nut and bolt extension
Changed end offector offset in pick and place examples using Franka to [0, 0, 0] instead of [0, 0, -0.015]
Fixed quadruped example error after reset or stop
Incorrect scaling factor in Omnigraph Keyboard example
Physics/lighting error caused by 100x scale in cube size and camera position
Error in nut+bolt example due to USD schema changes
Missing cortex dependency
Fix for Nut and Bolt Demo Windows Bug
omni.isaac.examples_nodes
Changed
Changed robot prim type from bundle to target
Update to kit 105.1
make targetPrim on IsaacPickPlaceController node optional
omni.isaac.extension_templates
Added
Added limitations to special characters that are considered acceptible in an extension title
Added XYPlot to “UI Component Library Template”
Added “Status Frame” to Extension Template Generator to give feedback to the user to guide their usage. Feedback includes verification that their templates were generated properly.
Changed
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
Fixed
Fixed bug in Template generator on Windows where user could specify a file path ending in “/”.
Fixed bug in Loaded Scenario Template where XFormPrim no longer accepts an Sdf.Path
Fixed bug where Configuration Tooling Template could cause a crash in Kit 105.1
The crash was caused by attempting to initialize Articulation on all stage events. The fix is to subscribe specifically to the ASSETS_LOADED stage event.
Subscriptions to STOP/PLAY timeline events in the Configuration Tooling Template have been removed, as they didn’t acheive anything when running Kit 105.1
Extension templates now use the extension name to generate python module paths to prevent clashing python modules. Previously, all modules were named “scripts” and you could not enable multiple extension templates at once.
omni.isaac.gain_tuner
Changed
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
omni.isaac.gym
Added
Base RLTask and domain randomization utils are now part of omni.isaac.gym
Include web browser clients for livestream
Add automated inferencing tests
Add missing SAC and Factory tests
Add multi-GPU tests
Changed
Enable fabric in app file since updateToUsd is set to False
Add device ID to cuda device
Move domain randomization util back to OIGE
Keep lightweight interface for RLTask
Use async calls for pre and post physics steps in MT workflow
Allow passing app file as argument to VecEnvBase
Update app files for gym
Redesign MT env for extension workflow
Update interface from gym to gymnasium
Added explicit omni.kit.pipapi dependency
Skip replicator wait for complete on shutdown to avoid hang
Fixed
Fix Windows tests pip install error
Close app if sim is terminated
Handle ctrl+c events on shutdown
omni.isaac.kit
Added
Faulthandler enabled to print callstack on crash
Changed
Add flag to SimulationApp close to skip replicator wait for complete
Fixed
Missing comma in sync load options
various linter issues
app framework not working in docker/root environments
simulation app startup warning
Fix potential error on Kit shutdown when Replicator capture on play is enabled
omni.isaac.lula
Changed
Upgraded Lula from release 0.8.2 to release 0.9.1. This new version includes a major overhaul of inverse kinematics (IK), improving performance and robustness via many performance optimizations and the addition of a BFGS solver used to refine the solution produced by the existing cyclic coordinate descent (CCD) solver. The names of certain parameters in the CyclicCoordDescentIkConfig struct have changed, breaking backward compatibility. This update also includes the fix for a bug that could affect CCD convergence and the addition of “mimic joint” support throughout.
Added “[Lula]” prefix to all Lula log messages.
Fixed
Added a workaround for a DLL loading issue under Windows that manifested when using the new “FastImporter” in Omniverse Kit 105.
omni.isaac.lula_test_widget
Changed
Updated Controllers due to changes to motion generation ArticulationTrajectory
omni.isaac.merge_mesh
Changed
Update to kit 105.1, omni.usd.utils -> omni.usd
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
- omni.isaac.mjcf
- Changed
Deprecating omni.isaac.mjcf, extension renamed to omni.importer.mjcf
omni.isaac.ml_archive
Changed
Added version to omni.pip.torch dependency
Removed unused omni.kit.pipapi dependency
no longer depend on omni.pip.torch
omni.isaac.motion_generation
Added
Add Fanuc CRX10IAL rmpflow configs with corresponding test case
Add Kuka KR210 rmpflow configs with corresponding test case
Update function in test cases that ensures deterministic behavior corresponding to moving to Kit 1.05
Add RMPflow config for Techman TM12 robot
Added support for timestamped Lula c-space trajectory generation with corresponding test cases.
Changed
Breaking Change: Updated ArticulationTrajectory, PathPlannerVisualizer, and ArticulationKinematics to use ArticulationSubset.make_articulation_action() This will result in ArticulationActions being returned that have fewer dimensions because they are not padded with Nones
Made stronger changes to IK interface to expose every property available in the Lula IK solver.
Made minimal internal changes to IK interface for compatibility with Lula 0.9.0.
Increase threshold on RRT test
Update RRT tests to use LulaTrajectoryGenerator to ensure that the robot Articulation more closely follows the ideal RRT path.
Fixed
Updated path of Kuka KR210 robot in test case to match update to Nucleus Server
lula.TaskSpaceTrajectoryGenerator.compute_task_space_trajectory_from_path_spec() was not able to handle lula composite path specs
Fixed robot loading in Trajectory Generator test cases to use add_reference_to_stage() instead of open_stage()
Fixed a bug in LulaKinematicsSolver that had resulted in set_descent_termination_delta() having no effect.
Add light to stages in all motion generation test cases because Kit 105.1 no longer has a default stage light
add_block function in motion_policy tests no longer waiting a frame before teleporting the block. The single frame of collision was causing the robot in the test cases to explode.
Broken test for RRT fixed by creating a more conservative robot description for Franka with spheres inflated by 5%.
omni.isaac.occupancy_map
Added
Checkbox to use USD triangle geometry instead of physx approx for occupancy map generation. Useful for generating occupancy maps for PhysX vs RTX lidar.
Changed
Update to kit 105.1, update build system
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
omni.isaac.ocs2
Changed
Updated ocs2 prebundle for kit 105.1
omni.isaac.onshape
Changed
Use pip_prebundle instead of runtime installation of pip packages
Added explicit omni.kit.pipapi dependency
Update to kit 105.1, omni.usd.utils -> omni.usd
Fixed
Support for documents with Variable Studio
Automatically download when part configuration changes
Referenced assets would fail to import correctly if the user didn’t have direct access to the original document.
Joints limits defined by configuration or variable studio would fail to import correctly.
omni.isaac.partition
Changed
Update to kit 105.1, update build system
omni.isaac.physics_inspector
Changed
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
omni.isaac.physics_utilities
Changed
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
omni.isaac.proximity_sensor
Changed
Update to kit 105.1, omni.usd.utils -> omni.usd
omni.isaac.quadruped
Changed
Eliminated dependency on “bezier” python package. Behavior is unchanged.
Fixed
Fixed robot articulation bug after stop or reset
omni.isaac.range_sensor
Added
get_prim_data, returns the prim path for each lidar hit, use this to access semantic data on a prim
Lidar now tracks time at which each beam was traced. (Bug 4143606)
OgnIsaacReadLidarBeams provides beam times as output. (Bug 4143606)
Removed
get_semantic_data returns an empty array
Changed
Renamed Create > Isaac > Sensor > Lidar to PhysX Lidar
Output of IsaacReadLidarPointCloud changed from pointCloudData to data
Added standard out fail pattern for the expected no prim found edge case for the ogn test
Changed lidar prim types from bundle to target
Update to kit 105.1
usd 22.11 schema inheritance
pxr::RangeSensorSchemaUltrasonicArray renamed pxr::RangeSensorUltrasonicArray
pxr::RangeSensorSchemaUltrasonicFiringGroup renamed pxr::RangeSensorUltrasonicFiringGroup
pxr::RangeSensorSchemaUltrasonicEmitter renamed pxr::RangeSensorUltrasonicEmitter
pxr::RangeSensorSchemaLidar renamed pxr::RangeSensorLidar
pxr::RangeSensorSchemaGeneric renamed pxr::RangeSensorGeneric
pxr::RangeSensorSchemaRangeSensor renamed pxr::RangeSensorRangeSensor
Fixed
Fixed blackness in sensor examples
app update event subscribers in examples are created even when not using example
omni.isaac.robot_assembler
Added new omni.isaac.robot_assembler extension.
omni.isaac.robot_benchmark
Changed
Update Golden Values in tests due to Kit version 105.1
Fixed
Import order issue due to code formatting
omni.isaac.robot_description_editor
Changed
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
omni.isaac.ros2_bridge
Added
Added enable flag for the lidar and camera helper
Improved description for the frame ID for the camera and lidar helper
Add menu item for Isaac ROS VSLAM tutorial
Tests for JointState Publisher
Changed
Made several warnings into print and log statements
Load internal ROS2 libs when ROS2 is not sourced
Print warning telling user how to source ROS2 to use internal libs with rclpy
load system rclpy, fallback onto internal rclpy if its not found
Re-written to use rclc APIs
User must source their local ROS2 workspace in the terminal before starting isaac sim
Foxy and humble are supported
The ROS_DISTRO env variable is used to determine what ROS backend to use
The separate Humble bridge extension has been removed
added stdout fail pattern for the expected no prim found edge case for the ogn test
Changed test_camera test to expect identical fx and fy as vertical aperture is computed from horizontal aperture.
Changed omnigraph targetPrim types from bundle to target
Image and PCL publishers to use ptrs instead of arrays when possible to reduce memory copies
Update to kit 105.1
rename synthetic data writer templates to match rendervar names
Disable extension if rclpy cannot load
Set ROS2 Context node to read ROS_DOMAIN_ID from env vars by default
Fixed
Windows message for setting PATH
rclpy not working in script editor
Transform tree node can accept multiple target prims as input
missing ros2 libs when running using internal libs
windows startup issues
rclpy not working on windows
clock subscriber not properly getting time
error when shutting down extension
properly handle case where ROS2 bridge carb plugin did not startup correctly
Add default values for World transform attributes when fetching fabric in computeWorldXformNoCache function used in processAllFrames
Pixel are square in 105.1 Vertical aperture is not used, and based off of horizontal
Joint efforts not being applied in joint state subscriber
Added fix for foxy backend to match humble backend
CameraInfo publisher now includes identity Rectification matrix
Joint State Subscriber supports input state messages with only one mode of drive specified
camera noise example errors
Moveit Tutorial had incorrect OG input name
Bug with ROS2 windows loading internal libs
JointState Publisher sign correction when a joint’s parents are in reversed order
omni.isaac.ros_bridge
Added
Removed context field from OgnROS1RtxLidarHelper OG node
Added enable flag for the lidar and camera helper
Improved description for the frame ID for the camera and lidar helper
Sync and async versions of checking for rosmaster
Tests for JointState Publisher
Changed
Added standard out fail pattern for the expected no prim found edge cases for the ogn test
Changed test_camera test to expect identical fx and fy as vertical aperture is computed from horizontal aperture.
Changed targetPrim datatype from bundle to target in omnigraph
Image and pcl nodes support gpu/cpu ptr data
Image and PCL publishers to use ptrs instead of arrays when possible to reduce memory copies
renamed wait_for_rosmaster to wait_for_rosmaster_async
Update to kit 105.1
add lib locations to PYTHONPATH
rename synthetic data writer templates to match rendervar names
Fixed
Transform tree node can accept multiple target prims as input
CUDA error in PCL publisher
Semantic publisher not correctly publishing bbox, semantics, instances
Add default values for World transform attributes when fetching fabric in computeWorldXformNoCache function used in processAllFrames
Pixel are square in 105.1 Vertical aperture is not used, and based off of horizontal
Bug in Joint Subscriber when using effort commands
CameraInfo publisher now includes identity Rectification matrix
Moveit Tutorial had incorrect OG input name
JointState Publisher sign correction when a joint’s parents are in reversed order
omni.isaac.scene_blox
Added
omni.isaac.scene_blox.grid_utils.config - Maintains global RNG.
Changed
Updates all modules to use newly-added global RNG, enabling replicability by setting seed.
omni.isaac.sensor
Added
numEchos, numChannels, and numTicks output to IsaacReadRTXLidarData
depthRange output to IsaacReadRTXLidarData
IsaacPrintRTXLidarInfo outputs largest velocity length
IsaacCreateRTXLidarScanBuffer node outputs all possible lidar data based on output flags on node.
Support, samples for OpenCV calibration models
Sensing GMSL2 RGBD sensors
transformPoints setting on IsaacCreateRTXLidarScanBuffer to enable correct world transformed points.
Velodyne and ZVISION RTX lidar config files.
Sick_TiM781 lidar config file.
testMode to IsaacPrintRTXRadarInfo
Writers for radar point cloud node
Effort sensor standalone example
Sensor buffer size test for effort sensor and IMU
Added menu items for more RTX Lidar sensor configs
Changed isaac sensor node prim from bundle to target type
Add function to camera.py to scrap all Camera objects in the scene
Added IsaacCreateRTXLidarScanBuffer Node
Changed contact sensor and IMU node prim from bundle to target type
docstrings to Camera class for functions adding annotators
Added support for ros and usd camera axes in get_world_pose, get_local_pose, set_world_pose, set_local_pose.
Added Effort Sensor
supported_annotators property
Add unit tests for Camera class to test get_point_cloud(), get_depth(), get_rgb()
Add following functions to Camera class
get_point_cloud()
get_depth()
get_rgb()
added get_sensor_reading function
Added RGBD sensors to Create > Isaac > Sensors menu
RTX Sensors to Windows
WriterIsaacReadRTXLidarData Synthetic Data Writer
RtxSensorCpuIsaacReadRTXLidarData Synthetic Data Template
Added filter width attributes to the imu sensor for adjusting noise
Added unit test for imu sensor filter, and repeated imu sensor readings
get_render_product_path to camera class
An existing render product path can be specified for the camera helper class
bounding_box_3d annotator to camera class
Test Mode for PrintRTXLidarInfo node.
synthetic data templates for Noop, RtxSensorCpuIsaacPrintRTXLidarInfo, and TestIsaacPrintRTXLidarInfo
TemplateRtxLidarDebugDrawPointCloud Synthetic Data template that mirrors the RtxLidarDebugDrawPointCloud writer.
Removed
RtxRadarGetPrimLocalToWorldTransform
IsaacRenderVarToCpuPointer, use omni.syntheticdata.SdRenderVarPtr instead.
Changed
changed IU names for CreateRTXLidarScanBuffer outputs to be more user friendly.
set default RXT sensor space to be the same as isaac-sim so rotations in IsaacSensorCreateRtxLidar make sense
updated data acquisition callback for Camera objects to be on the next frame event
Used frameTime annotator instead of the dispather node inputs for better accuracy in the data acquisition callback
Moved initializing render products to the initialize method in Camera to reduce overhead and decoupling the usage of pose utils and render product related methods
RGBD menu updated to include manufacturer sub-menu
Updated usd paths for Sensing assets
Changed base prim type for sensors from Camera to Xform (real camera sensor should be inside of the default prim)
IsaacComputeRTXLidarFlatScan now works with single emitter lidar configs like RPLIDAR_S2E
Added Kannala Brandt and Rational Polynomial tests for the camera properties test
Updated USD path for NVIDIA Hawk RGBD sensor
The IMU now gets the transform from world directly.
IMU can have intermediate parents that are non rigid body.
IMU can measure or ignore gravitational acceleration via read_gravity flag
The layout of the add sensors menu.
on CreateRTXLidarScanBuffer returnsPerScan output to numReturnsPerScan
Added standard out fail pattern for the expected no prim found edge case for the ogn test
Cleaned up IsaacComputeRTXLidarPointCloud, no intended functional changes.
RtxSensorCpuIsaacComputeRTXRadarPointCloud template to Annotator
Radar Point Cloud creator now gets transform from render_product
changed PrintRTX templates to Writers
Effort sensor omnigraph node update sensor params
Unified input param names for get_sensor_reading across sensors
RTX point cloud node returns width and height of buffer
Convert RTX templates to annotators
store and destroy internaly created renderproduct
get_current_frame() now accepts optional argument to return deepcopy of data
RTX Nodes updated to work with dataPtr/cudaDeviceIndex/bufferSize inputs and outputs.
RTX Nodes updated to auto connect with synthetic data/replicator nodes.
RTX Node and DebugDrawPointCloud templates and writers updated to auto connect with synthetic data/replicator nodes.
Changed sensor reading behavior that prohibit interpolation when the sensor frequency is higher than physics frequency
Uses data interpolated at previous sensor measurement period when it’s lower than physics frequency for the IMU sensor and nearest physics step data for the contact sensor
Deprecated get_sensor_readings, get_sensor_sim_reading, get_sensor_num_reading for IMU Sensor and Contact Sensor
Changed orientation measurement to be the orientation of the IMU sensor rather than the parent prim
Changed contact sensor logic to process sensor measurement every step instead of on call
Updated ant sensor samples to use the new API
Updated python wrapper and removed callbacks.
Location of default and temp lidar config files set to ${app}/../data/sensors/lidar/
IsaacPrintRTXLidarInfo works with changed rtx lidar data
IsaacReadRTXLidarData outputs match changed rtx lidar data
If /app/runLoops/main/rateLimitFrequency is not set Frequency goes to -1, and all frames are captured
IsaacPrintRTXLidarInfo node now prints prim paths and return data for first named prim hits.
Update to kit 105.1
RTX Lidar/Radar Nodes cleanup
Location of default and temp lidar config files set to ${app}/../data/lidar/
Removed pxr::Simulation Gate from Rtx[Lidar|Radar]DebugDrawPointCloud writers
renamed pxr::IsaacSensorSchemaIsaacBaseSensor to pxr::IsaacSensorIsaacBaseSensor
renamed pxr::IsaacSensorSchemaIsaacContactSensor to pxr::IsaacSensorIsaacContactSensor
renamed pxr::IsaacSensorSchemaIsaacImuSensor to pxr::IsaacSensorIsaacImuSensor
get_all_camera_objects() now ensures that camera names are unique
Updated assets to use carter v2.4
Changed sensor type member names to adhere to naming conventions, inContact to in_contact
Fixed
Fixed WriterReadRTXLidarData Synthetic Data writer so it sets the render_product_path correctly.
Fixed elevation output for ComputeRTXLidarPointCloud node.
Fixed bug with ReadRTXLidarData node output when using keepOnlyPositiveDistance.
Add the allowedToken metadata for the cameraProjectionType attribute in cameras if it wasn’t set already.
Fixed bug with horizontal resolution divison
Fixed contact sensor sample
ComputeRTXLidarFlatScan now uses lidar config for more accurate output
IsaacComputeRTXLidarFlatScan range projected to 0 elevation
IMU and contact sensor read omnigraph nodes can now support parents from multiple levels up.
Scale issues with Orbbec RGBD sensors
RtxLidarDebugDrawPointCloudBuffer writer to use correct default transform
RTX Lidar Menu setting wrong config parameter on sensor prim
Added force threshold unit test for the contact sensor, now contact forces smaller than the min threshold will be treated as no contact
CreateRTXLidarScanBuffer works when input data wraps around the output buffer
CreateRTXLidarScanBuffer works on Solid State Lidar
Improved unit test stability
keepOnlyPositiveDistance now works on CreateRTXLidarScanBuffer node
Sensor buffer bug for effort sensor and IMU
Vertical Aperture used from reading the horizonal aperture usd property and multiplying it by resolution ratio to conform to the square pixels asumption in place. (Camera class)
RTX lidar class not returning data
Fixed divisible by zero error in IMU linear interpolation
Removed reading pairs from the IMU sensor to use the buffer directly
Error when removing an annotator that had not been added yet
Fixed index out of bound error for the read IMU and contact sensor nodes
Imu frequency to downtime calculation has been fixed
Bug causing the data frame to stop updating in the camera class over extended periods of time
Missing connection for IsaacComputeRTXLidarPointCloud node
removed extra frame transformation in the LidarRtx wrapper
changed physX lidar tests and samples to use Carter V1
Realsense D455 menu
omni.isaac.shapenet
Changed
Deprecation warning to UI and shapenet_convert
Added explicit omni.kit.pipapi dependency
Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.
Fixed
Remove explicit certifi dependency and use omni.kit.pip_archive
omni.isaac.surface_gripper
Changed
Updated ogn node to prevent issue where it would only call for close on first attempt.
Automatically move gripper origin out of collision body, with a warning to tell how much to push it forward
Updated ogn node prims types from bundle to ogn
omni.isaac.synthetic_recorder
Added
custom names for render products
render products are destroyed after each recording
select all and toggle all buttons for writer annotator parameters
Changed
increased render product max resolution to 16kx8k
Fixed
omni.pip.cloud dependency is needed for replicator.core deps
load_config checks for empty json files
omni.isaac.synthetic_utils
Changed
deprecated in favor of omni.replicator.core, omni.syntheticdata and omni.isaac.sensor
omni.isaac.tests
Added
Joint effort test, with pure usd joints and articulation joints
omni.anim.people extension startup test
Added Test Cases that cause segfaults in the current build of Isaac Sim
Added Test Case to check if Sim will freeze when opening a USD stage 100 times
Removed
Moved multi-cam utility snippet to standalone_examples/omni.isaac.snippets/
Changed
Changed test accel, test spin, and test circle thresholds for the carter v1, v2 and jetbot
Changed unit tests as the prim types of omnigraph nodes have been changed from bundle to target
Update to kit 105.1, omni.usd.utils renamed omni.usd
Refactor and fix broken tests
Combined and cleaned up tests
use set_target_prims from core nodes
Fixed
Fixed drive_goal_carter_v2 tests to use the correct timecode setting
Added timecode to stage for test_stage_up_axis and test_stage_units
Fixed articulation_drives_opposite.usd file errors
Fixed broken mobile robot tests
omni.isaac.ui
Added
Added ScrollingWindow UI wrapper now that Kit 105.1 windows do not automatically have a scrollbar.
Added test cases for UI widget wrappers
Added test cases for UI Core Connectors
Added UIElementWrapper XYPlot with significantly more useful plotting utility than the base omni.ui.Plot
Changed
Update build_header() function to use constant colors
Fixed
Fixed possible errors in UI Plotting Tool where x_min is set arbitrarily close to x_max beyond what was a hard-coded constant.
Fixed possible errors in UI Plotting Tool that can be caused by spamming updates to violate x_max > x_min on X axis. Fixed error when floats are overflowed, which allowed x_min to equal x_max for high numbers
Added extra frame of waiting when using LoadButton and ResetButton after core.World.reset(). The extra frame resolves possible differences in rendered object position and queried position.
Fixed unused on event function for string builder
Fixed small bugs found in UI widget wrappers
Enforce argument types in setter functions for UI Widget Wrappers by casting [int,float,bool] args to their required type explicitly. This handles undesirable behavior that arises when numpy types such as np.float are passed instead of primitive types. For example, the FloatField displays the value 0.0:np.float as 1.0.
omni.isaac.unit_converter
Fixed
UsdLux api change from Light to LightApi
omni.isaac.urdf
Changed
Deprecating omni.isaac.urdf, renaming it to omni.importer.urdf
omni.isaac.utils
Added
getCameraPrimFromRenderProduct function
Added new robots to Create -> Isaac -> Robots menu
Carter V2.4 asset path, removed Carter V2 and V2.3
Renamed Carter V2.4 Nova Carter
Changed
updated Create > Isaac > Robots menu
Update to kit 105.1, omni.usd.utils renamed omni.usd
Fixed
Updated path of Kuka KR210 robot to match update to Nucleus Server
Updated name of Kuka KR210 robot in Create menu.
Broken asset paths
omni.isaac.version
Fixed
Scan for test modules instead of importing them
Docs and docstrings
Fixed closing of parsed file for reading the version
omni.isaac.wheeled_robots
Added
Ackermann Steering OmniGraph node
Changed
wheeled robot class can now accept a relative path from the default prim to the robot prim when the robot is not the default prim
Fixed
Changed robot prim types from bundle to target in Omnigraph
Kit 105.1 update
use omni.usd instead of omni.usd.utils for get_world_transform_matrix
Differential controller will not ignore 0s as max speed inputs.
Differential controller now resets on simulation Stop
omni.kit.loop-isaac
Changed
Update to kit 105.1, pybind11 header locations
Fixed
Crash on exit due to threading race condition
omni.kit.property.isaac
Changed
Update to kit 105.1
python 3.11 super().__init__ added
omni.pip.cloud
Added new omni.pip.cloud extension.
omni.pip.compute
Added new omni.pip.compute extension.
omni.replicator.isaac
Added
register_pose_annotator() to DOPEWriter and YCBVideoWriter
setup_writer() to DOPEWriter and YCBVideoWriter
Functions were originally in standalone_examples/replicator/pose_generation/pose_generation.py
Moved into dope_writer.py and ycb_video_writer.py
Changed
Improved pytorch writer performance
Update to kit 105.1
removed swhFrameNumber from Pose and Dope nodes
Fixed
Fix error when AOVs return data on different devices
test_pytorch_writer adding the num_frames to run_until_complete_async due to possible off-by-one frame issue
Fixes for physics APIs
Fixes for updated replicator API
omni.usd.schema.isaac
Changed
Direct inheritance for IsA schema IsaacContactSensor, IsaacImuSensor, Lidar, UltrasonicArray, Generic
Updated for USD 22.11 and Kit 105.1.
Using omni-isaacsim-schema as dependency